Drive control device, drive control method, and program

Abstract

There is provided a drive control device, a drive control method, and a program that allow for an improvement in detection accuracy of a multi-IMU. Angular velocities supplied from a plurality of inertial measurement units (IMUs) are acquired, drive frequencies of the plurality of IMUs are calculated on the basis of acquisition timings of the acquired angular velocities, and on the basis of the drive frequencies of the plurality of IMUs, in a case where an interval between peak frequencies of the drive frequencies is smaller than ½ of a half width of a drive frequency distribution, control is performed so as to change the drive frequencies by heating or cooling temperatures of the IMUs so that the interval can be widened. The present disclosure can be applied to a multi-IMU.

1 . A drive control device comprising:
 an acquisition unit configured to acquire angular velocities supplied from a plurality of inertial measurement units (IMUs);   a drive frequency calculation unit configured to calculate drive frequencies of the plurality of IMUs on a basis of acquisition timings of the angular velocities acquired by the acquisition unit; and   a control unit configured to control the plurality of IMUs on a basis of the drive frequencies of the plurality of IMUs.   
     
     
         2 . The drive control device according to  claim 1 , wherein
 the control unit controls temperatures of the IMUs in a case where an interval between peak frequencies of the drive frequencies is narrower than a predetermined value on the basis of the drive frequencies of the plurality of IMUs.   
     
     
         3 . The drive control device according to  claim 2 , wherein
 on the basis of the drive frequencies of the plurality of IMUs, in a case where the interval between the peak frequencies of the drive frequencies is narrower than a predetermined value, the control unit controls the temperatures in such a way as to make the interval between the peak frequencies of the IMUs wider than the predetermined value.   
     
     
         4 . The drive control device according to  claim 2 , wherein
 on the basis of the drive frequencies of the plurality of IMUs, in a case where the interval between the peak frequencies of the drive frequencies is narrower than a predetermined value, the control unit controls the temperatures in such a way as to increase the peak frequency by lowering a temperature of the IMU on a side in which the peak frequency is higher and make the interval between the peak frequencies of the IMUs wider than the predetermined value.   
     
     
         5 . The drive control device according to  claim 2 , wherein
 on the basis of the drive frequencies of the plurality of IMUs, in a case where the interval between the peak frequencies of the drive frequencies is narrower than a predetermined value, the control unit controls the temperatures in such a way as to decrease the peak frequency by increasing the temperature of the IMU on a side in which the peak frequency is lower and make the interval between the peak frequencies of the IMUs wider than the predetermined value.   
     
     
         6 . The drive control device according to  claim 2 , wherein
 on the basis of the drive frequencies of the plurality of IMUs, in a case where the interval between the peak frequencies of the drive frequencies is narrower than a predetermined value, the control unit controls the temperatures in such a way as to make the interval between the peak frequencies of the IMUs wider than the predetermined value by lowering the temperature of the IMU on a side in which the peak frequency is higher in such a way as to increase the peak frequency on the higher side, and increasing the temperature of the IMU on a side in which the peak frequency is lower in such a way as to decrease the peak frequency on the lower side.   
     
     
         7 . The drive control device according to  claim 3 , wherein
 the control unit groups the IMUs into a plurality of groups on a basis of the peak frequencies of the drive frequencies of the plurality of IMUs, and, for each of the groups, in a case where the interval between the peak frequencies is narrower than a predetermined value, controls the temperatures in such a way as to make the interval between the peak frequencies of the IMUs wider than the predetermined value.   
     
     
         8 . The drive control device according to  claim 2 , wherein
 the predetermined value is a bandwidth of ½ of a half width in a distribution of the drive frequencies.   
     
     
         9 . The drive control device according to  claim 2 , wherein
 the control unit calculates a beat that is a difference between the peak frequencies of the drive frequencies on the basis of the drive frequencies of the plurality of IMUs, and controls the temperatures of the IMUs on a basis of the beat in a case where the interval is narrower than a predetermined value.   
     
     
         10 . The drive control device according to  claim 3 , wherein
 on the basis of the drive frequencies of the plurality of IMUs, in a case where the interval between the peak frequencies of the drive frequencies is narrower than a predetermined value and it is not possible to control the temperatures in such a way as to make the interval between the peak frequencies of the IMUs wider than the predetermined value, the control unit performs control to operate one of the IMUs in which the interval between the peak frequencies of the drive frequencies is narrower than the predetermined value and stop other IMUs.   
     
     
         11 . The drive control device according to  claim 1 , wherein
 the control unit gives a time stamp to each of the acquired angular velocities on the basis of the acquisition timings of the angular velocities acquired by the acquisition unit, and calculates the drive frequencies of the plurality of IMUs on a basis of the time stamps.   
     
     
         12 . The drive control device according to  claim 1 , further comprising:
 a heating/cooling unit configured to apply at least either heating or cooling to the IMUs to adjust temperatures of the IMUs,   wherein the control unit controls the temperatures of the plurality of IMUs by controlling the heating/cooling unit on the basis of the drive frequencies of the plurality of IMUs.   
     
     
         13 . The drive control device according to  claim 1 , wherein
 the IMUs include vibratory micro electro mechanical systems (MEMS) gyro sensors.   
     
     
         14 . A drive control method comprising the steps of:
 acquiring angular velocities supplied from a plurality of inertial measurement units (IMUs);   calculating drive frequencies of the plurality of IMUs on a basis of acquisition timings of the acquired angular velocities; and   controlling the plurality of IMUs on a basis of the drive frequencies of the plurality of IMUs.   
     
     
         15 . A program for causing a computer to function as:
 an acquisition unit configured to acquire angular velocities supplied from a plurality of inertial measurement units (IMUs);   a drive frequency calculation unit configured to calculate drive frequencies of the plurality of IMUs on a basis of acquisition timings of the angular velocities acquired by the acquisition unit; and   a control unit configured to control the plurality of IMUs on a basis of the drive frequencies of the plurality of IMUs.